Intern
ati
o
n
a
l Jo
urn
a
l
o
f
R
o
botics
a
nd Au
tom
a
tion
(I
JR
A)
V
o
l.
4, N
o
. 1
,
Mar
c
h
20
15
,
pp
. 63
~72
I
S
SN
: 208
9-4
8
5
6
63
Jo
urn
a
l
h
o
me
pa
ge
: h
ttp
://iaesjo
u
r
na
l.com/
o
n
lin
e/ind
e
x.ph
p
/
IJRA
Making Humanoid Robots More
Acceptable Based on the Study
of Rob
o
t Characte
rs in Animation
Fate
meh
M
a
l
e
ki
*, Z
e
i
n
ab
F
a
rh
oudi
**
* Departement o
f
Animation, Te
hra Art
Univers
i
t
y
,
Tehr
an,
Iran
** Depart
em
ent
of Com
puter
En
genier
ing,
S
c
ien
ce
and R
e
s
ear
ch
Branch of
Azad
Univers
i
t
y
,
T
e
hr
an, I
r
an
Article Info
A
B
STRAC
T
Article histo
r
y:
Received J
u
n
7, 2014
Rev
i
sed
Sep 7, 20
14
Accepte
d Oct 2, 2014
In this paper we
take an
approach in
Humanoid Robots are not considered as
robots who resembles human be
ings in
a realistic way
of app
ear
ance and
act
but as robots who act
and react like hum
an that
make them more believab
le
b
y
peop
le. Reg
a
rding this app
r
oach we will
stud
y
robot
ch
aracters in
anim
ation m
ovie
s
and dis
c
us
s
what m
a
kes
s
o
m
e
of them
to be a
ccep
ted jus
t
like a moving
bod
y
and what makes so
me other robot ch
ar
acters to be
believable as a living human.
Th
e goal of this pa
per is to crea
te a
rule set tha
t
describes friendly
,
so
cially
acceptable, kind
, cu
te
... robots and
in this stud
y
we will review
example
robo
ts
in popular an
imated
movies.
Th
e ex
tracted
rules
and
fe
atur
e
s
can b
e
us
ed
for
m
a
king r
eal
rob
o
ts
m
o
re a
ccep
ta
ble.
Keyword:
an
im
a
tio
n
characte
r
istic
em
ot
i
onal
hum
anoi
d
social Robots
Copyright ©
201
5 Institut
e
o
f
Ad
vanced
Engin
eer
ing and S
c
i
e
nce.
All rights re
se
rve
d
.
Co
rresp
ond
i
ng
Autho
r
:
Fate
m
e
h
Malek
i
Teh
r
a Art
Un
i
v
ersity and
Shah
id
Beh
e
sh
ti
Un
i
v
ersity, Teh
r
an
, Iran
Em
a
il: f.
m
a
lek
i
@g
m
x
.co
m
1.
INTRODUCTION
Walt Dis
n
ey
sa
ys, “
W
he
n pe
ople laugh at Mickey Mouse, i
t
'
s
because
he'
s
so
hum
a
n; and that is t
h
e
secret o
f
h
i
s po
pu
larity.” Alth
oug
h
th
e cha
r
acters in any anim
a
tion could be
ob
j
ects, t
oys, p
l
an
ts,
o
r
an
im
a
l
s,
but
m
o
st
of t
h
e t
i
m
e
, regar
d
i
ng t
h
e st
o
r
y
,
t
h
ey
are
not
t
h
e
m
sel
v
es but
c
o
nsi
d
e
r
ed a
s
a h
u
m
a
ns t
o
au
di
ence
’
s
conce
p
tion. M
i
ckey Mouse is not a
m
ouse but a hum
a
n
with tail, big ears and m
ouse-like face. Bes
i
des to
these facts a
b
out identity of
c
h
aracters, a c
h
aracter has a face of
ob
j
ect, anim
a
l
,
hum
an,
etc.
If we foc
u
s on
robot cha
r
acters in a
n
im
ation
m
ovies
som
e
times they are c
onsi
d
ere
d
a
s
mo
v
i
n
g
obj
ects
w
ith
ou
t an
y f
e
elin
gs
but s
o
m
e
other eve
n
incl
udi
ng robots
without hum
a
noid
fa
ces and
bodies
, show em
otions a
n
d react i
n
a way
that their a
u
dience
believe t
h
e
m
as a charact
ers b
e
ing
fam
i
li
ar with
for
years
[1-9
].
In 201
2,
Disney lab
d
e
v
e
l
o
p
e
d a
h
u
m
an
oid
rob
o
t
wh
ich
h
a
s t
h
e cap
a
b
ility o
f
p
l
ayin
g catch and
j
ugg
lin
g (D
isney Resear
ch)
.
Besid
e
s th
e
sc
i
e
nt
i
f
i
c
an
d e
n
gi
nee
r
i
n
g as
pe
ct
s of th
e robo
t su
ch as artificial
in
tellig
en
ce, face d
e
tectio
n
and
m
ech
an
ics, it
h
a
s also
in
terestin
g
an
im
atio
n
s
after failure an
d
m
i
ssed
ca
tch
e
s
suc
h
as a s
h
oul
der
sh
ru
g,
sha
k
i
n
g t
h
e
hea
d
,
and
l
o
oki
ng
d
o
w
n
[
1
]
.
T
h
i
s
a
n
i
m
at
i
on gi
ves
som
e
charact
e
r
i
s
t
i
c
s
to
it (Fi
g
ure
1
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
56
IJR
A
V
o
l
.
4,
No
. 1,
M
a
rc
h 20
1
5
:
6
3
– 72
64
Fig
u
re 1
:
Th
e ju
gg
ling
robo
t
Ru
ssel an
d Norv
i
g
u
tter fou
r
p
o
s
sib
l
e
g
o
a
ls
to
pursu
e in
art
i
ficial in
tellig
en
ce: 1)
Syste
m
s th
at th
i
n
k
lik
e hu
m
a
n
s
. 2) System
s th
at th
in
k ration
a
lly. 3) System
s t
h
at act lik
e
human
s 4) System
s th
at act rati
o
n
a
lly
[2]
.
T
o
m
a
ke a hum
anoi
d
ro
b
o
t
m
a
y
not
nec
e
ssary
m
ean t
o
m
a
ke a perfec
t
and real
i
s
t
i
c
r
o
b
o
t
:
per
f
ect
i
n
act
s
perfect in face
, and perfect in em
o
tional faces. Not being perfect m
a
k
e
s it
m
o
re possible to be differe
n
t
a
m
ong ot
hers
and that is
what exists
between
hum
an
beings
a
n
d form
s the
differe
n
ce
, cha
r
acteristics and
id
en
tity. So
m
e
featu
r
es can
b
e
d
e
fin
e
d
,
and
po
in
t is to
d
ecrease an
d
in
crease so
m
e
featu
r
es in
d
i
fferen
t
ro
bo
ts
to give t
h
em
id
entity and m
a
ke them
m
o
re a
ccepted
by
pe
ople. Although t
h
e sha
p
e
a
nd mechanics
of m
o
t
i
on
is a m
a
tter but
m
o
re is the act
s and
reactions
.
Consi
d
eri
n
g the anim
ation
Ga
ga
rin
(
1
96
1
)
or
t
h
e m
ovi
e
I,
Ro
bo
t
(20
04), all th
e caterpillars lo
ok
alik
e an
d
all the rob
o
t
s
h
a
s the sa
m
e
appearance, but diffe
rent
acts
and re
ac
tions of the
main characters
m
a
ke
them
accepted as m
o
re look a
like hum
a
n. T
h
e
how’s
of i
m
ple
m
entation of
this differe
n
ces
ca
n be discuss
e
d
in technical topics, the
r
e coul
d be m
a
ny wa
ys such as as
signi
ng a
factor
to
som
e
features or assi
gning factors
to learning as
pects that can be
set for each robot
specifically.
To
fi
n
d
out
w
h
at
can
hel
p
t
o
wa
r
d
t
h
e
g
o
a
l
of
m
a
ki
ng
be
l
i
e
vabl
e r
o
bot
s
an
d e
x
t
r
act
t
h
e
r
u
l
e
s f
o
r
design,act and em
otional reaction we will study fam
ous
robot cha
r
act
ers in som
e
long a
n
im
ation m
ovies
i
n
cl
udi
ng:
Ro
bot
s
(2
005
),
WALL-E
(
2008
),
Me
ga
mi
nd
(2
010
)
,
The Incre
d
ibles
(20
04)
,
Pi
no
cchio
3000
(
200
4)
,
Meet t
h
e R
obi
nsons
(2
007
),
9
(
200
9)
,
Cora
lin
e
(
200
9)
,
Treas
u
re planet
(2
002
)
,
Ji
mmy N
e
ut
ro
n: B
o
y
Geni
us
(
200
1)
,
Astrobo
y
(2
009
),
Ir
o
n
Gia
n
t
(
199
9)
,
C
a
stle in
Th
e S
k
y
(
198
6)
.
Thi
s
st
u
d
y
ca
n
be
usef
ul
i
n
s
o
ci
al
an
d em
ot
i
onal
r
o
b
o
t
st
u
d
y
fi
el
ds
, a
nd
al
so can
be
us
ed i
n
hel
p
i
n
g
ch
ild
ren
d
i
ag
no
sed
with
au
tism as "
C
h
ild
ren
d
i
ag
nosed
with
Au
ti
sm Sp
ectrum
Disorde
r
s can find
com
m
uni
cat
i
on wi
t
h
ot
he
rs d
i
ffi
cul
t
.
H
o
we
ver
,
t
h
ei
r
rel
a
ti
o
n
s
h
i
p
with
mach
in
es is an
o
t
h
e
r story co
m
p
letely.
Because of predictability
and
re
duced
ext
e
rnal stim
uli t
o
process, tec
h
nology
often attracts children wi
t
h
aut
i
s
m
.
They
fi
nd c
o
m
put
ers
and
ot
her t
e
c
h
nol
ogi
cal
devi
ces com
f
ort
i
n
g
,
m
o
t
i
v
at
i
ng, a
nd
en
ga
gi
n
g
w
h
en
i
t
co
m
e
s to
ar
eas lik
e so
cial i
n
ter
action
an
d co
mm
u
n
i
cati
o
n." (
B
eyond
.co
m
)
D
r
K
a
r
e
n
Gu
ldb
e
r
g
, fro
m
th
e
Uni
v
ersi
t
y
of
B
i
r
m
i
ngham
’
s Sch
ool
o
f
Ed
u
cat
i
on'
s Aut
i
s
m
C
e
nt
re for E
ducat
i
o
n an
d R
e
search
ho
pes
t
h
ey
’re
ri
g
h
t
.
She
was
qu
ot
ed i
n
The
Dai
l
y
M
a
i
l
as say
i
ng, “
W
e
have
bee
n
l
o
o
k
i
n
g at
h
o
w t
e
chn
o
l
o
gy
can
sup
p
o
rt
pupils wit
h
aut
i
s
m
to comm
u
n
icate
m
o
re effectively.” She
adds, “Pupils
a
n
d teache
r
s a
r
e
experim
e
nting with
t
h
e r
o
bot
s a
n
d
ot
he
r t
e
c
h
n
o
l
ogi
es
i
n
a
de
v
e
l
opm
ent
a
l
wa
y
and
t
h
ey
a
r
e
sh
owi
n
g si
g
n
i
f
i
cant
bene
fi
t
s
fo
r t
h
e
classroom
.
” (Beyond.c
o
m
)
We will study robots in ani
m
a
tion, som
e
even m
a
y not be r
ealistic but accepted as a friendly
characte
r
, to
export ways
for m
a
king
em
ot
i
onal
a
n
d s
o
ci
al
r
o
b
o
t
s
.
C
onsi
d
eri
n
g all realistic characters
an
im
a
t
ed
with
m
o
t
i
o
n
cap
t
u
re, so
m
e
ti
mes th
ey h
a
v
e
g
a
i
n
less success
due to suffer
i
ng
from
a theory called
The
U
n
can
ny
Val
l
e
y
pr
o
pose
d
i
n
1
9
7
0
by
M
a
sahi
r
o
M
o
ri
[
4
]
:
He e
n
vi
si
o
n
ed
peo
p
l
e
's
react
i
ons
t
o
ro
b
o
t
s
t
hat
l
ooke
d
a
n
d
act
e
d
al
mo
st
h
u
m
a
n.
In
p
a
rt
i
c
ul
ar
,
he
h
y
po
th
esized
t
h
a
t
a
p
e
rson'
s
respo
n
s
e to a hu
man
like robo
t wou
l
d
ab
rup
tly sh
ift from emp
a
t
h
y
to
revu
lsion
a
s
it
a
p
p
r
o
a
ch
ed
, bu
t fa
iled
t
o
a
ttain
,
a
lifelike a
p
p
e
aran
ce. Th
is d
e
scen
t in
t
o
eerin
e
ss is
know
n as
t
h
e u
n
ca
n
n
y
v
a
l
l
e
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
Maki
n
g
H
u
m
a
noi
d R
o
bot
s
M
o
re Acce
pt
a
b
l
e
Base
d
o
n
t
h
e
St
u
d
y
of
R
o
b
o
t
C
har
act
e
rs i
n
…
(
F
at
eme
h
M
a
l
eki
)
65
Fig
u
re
2
.
In
cred
ib
le in con
t
rast with
Th
e
Po
l
a
r Ex
press,
as i
t
is seen t
h
e
uncanny
valley is m
o
re sense
d
i
n
T
h
e
Po
lar Express
with
m
o
re reali
s
tic
characters
than i
n
Inc
r
edi
b
le.
2.
PATHI
C
FEE
D
BACK
In th
is section
we st
u
d
y
t
h
e ro
bo
t ch
aracters
'
acts and reaction a
n
d st
udy it i
n
s
p
eci
fic pa
rts
of
facial, body, s
o
und a
n
d c
h
arac
teristics.
2.
1 F
A
C
I
AL
E
X
PRE
S
SIO
N
Thi
s
part
st
udi
es t
h
e i
n
t
e
ract
i
ons
a
n
d
em
ot
i
ons s
h
ow
n
o
n
fa
ce o
f
r
o
bot
.
2.
1.
1
E
Y
E
S
Ey
es are o
f
g
r
eat
im
port
a
nce
i
n
faci
al
an
d
em
ot
i
onal
ex
pressi
o
n
. T
h
i
s
part
t
a
l
k
s a
b
out
di
ffe
re
nt
sha
p
es of
eyes
in
cha
r
acters
al
t
h
o
u
g
h
n
o
t
real
i
s
t
i
c
but
wi
t
h
f
eel
i
ngs a
n
d wi
l
l
di
scuss
t
h
e a
s
pect
s c
onsi
d
er
ed i
n
eyes’ or eyelids’ a
n
d eyebrows’ m
ovem
e
nt
t
o
gi
ve
feel
i
n
g t
o
t
h
em
.
a)
Lig
h
Ey
es
In
WA
L
L
-
E
(
2
00
8
)
m
a
ny
of r
eact
i
ons ar
e i
n
duce
d
by
Eva
’
s l
i
ght
ey
es. E
v
a ha
s a si
m
p
le l
i
ght
b
o
ar
d,
wi
t
h
ey
es dra
w
n on
i
t
.
The
ad
va
nt
age
s
o
f
t
h
i
s
w
o
ul
d
be:
faster reaction whe
n
m
echan
i
cal li
m
i
tatio
n
s
ex
ist.
m
o
re flex
ib
le an
d asymmetric
reaction
can
be i
m
p
l
e
m
en
ted
.
Fi
gu
re 3.
Eva
(WALL.E, 20
08)
Whe
n
t
h
e si
ze
of r
o
bot
i
n
c
r
ea
ses and
we get
l
e
ss i
nvol
ved
i
n
i
t
s
faci
al
em
ot
i
o
n
s
, j
u
st
t
w
o ci
rcl
e
s o
r
j
u
s
t
t
w
o
l
i
ght
poi
nt
s ar
e
use
d
,
f
o
r e
x
a
m
pl
e i
n
Astrobo
y
(200
9) t
h
ere is a
ro
bo
t that h
a
s ju
st t
w
o sh
i
n
ing
circles as its
eyes and
ZOG, a friend
ly ro
bo
t with
a l
a
r
g
e
bo
dy
a
n
d
ve
ry
sm
al
l
head
has
ju
st
t
w
o s
phe
re
s as i
t
s
ey
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
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-48
56
IJR
A
V
o
l
.
4,
No
. 1,
M
a
rc
h 20
1
5
:
6
3
– 72
66
Fi
gu
re
4.
ZO
G
(
Ast
r
ob
oy,
2
0
0
9
)
An
ot
he
r e
x
am
pl
e o
f
l
i
g
ht
ey
es can
be
swe
e
per
r
o
b
o
t
s
i
n
WALL-E
(2008
), th
at ligh
t
bo
ard
sho
w
s the eyes’
current form
.
b)
Telesco
p
ic ey
es
Man
y
robo
ts in
an
im
atio
n
s
hav
e
two
cylin
ders as th
eir ey
es.
Ir
on Gi
a
n
t
(
199
9)
,
9
(2
009
),
Meet the
Ro
bi
ns
on
s
(2
00
7)
,
Tr
eas
u
re Pl
anet
(
2
00
2)
,
Ro
bot
s
(2005) are exam
ples of thes
e an
im
ati
o
n
s
. Usi
n
g
telescop
ic
ey
es gi
ve
l
o
we
r
vi
ew a
n
gl
e t
o
t
h
e
vi
si
t
o
rs
t
o
di
ag
no
se
th
e ro
bo
ts cu
rren
t eyes’ fo
rm
, so it can
b
e
a
g
ood
trick
t
o
ju
st
conce
n
t
r
at
e on i
m
pl
em
ent
a
t
i
on
of t
h
e
y
appear i
n
fr
o
n
t
a
l
vi
ew. T
h
e
charact
e
r
s m
e
n
t
i
oned al
l
has l
o
we
r
an
d upp
er lid
s or sp
iral lid
s
to
cov
e
r so
m
e
p
a
rts
o
f
ey
es
and gi
ve em
otions
to them
.
Characters
Ey
es in
9
(200
9)
h
a
s
d
a
rk
circle in
si
d
e
as iris bu
t in
I
r
on
Gi
ant
(199
5) th
e ro
bo
t
h
a
s
n
o
i
r
is bu
t
wh
en
it is
n
e
ed
ed to
sho
w
t
h
e
di
rect
i
on
o
f
l
o
o
k
, t
w
o ce
nt
er l
i
g
ht
s
i
n
t
h
e eyes
m
ove to corners
of the
circles
of
eyes.
Figu
r
e
5. Iro
n
G
i
an
t
(
I
r
on
G
i
a
n
t
,199
5
)
Figure
6.
9
(
9, 2
009
)
It
rem
a
i
n
s un
k
n
o
w
n w
h
y
we gene
rat
e
sp
ont
aneo
us ey
e bl
i
nks e
v
ery
fe
w seco
nds
, m
o
re
oft
e
n t
h
an n
e
c
e
ssary
fo
r oc
ul
ar l
u
br
i
cat
i
on. B
eca
u
s
e ey
e bl
i
n
ks t
e
nd t
o
occu
r a
t
im
pl
i
c
it
brea
kp
oi
nt
s
w
h
i
l
e
vi
ewi
n
g
vi
de
o
s
, we
hypothesize
d
t
h
at eye
blinks
are activel
y inv
o
l
v
e
d in th
e
release of atten
t
io
n
[5
]. Th
is is a
g
r
eat
find
ing
to
b
e
use
d
i
n
ro
b
o
t
s
not
j
u
st
m
a
ke t
h
em
regul
arl
y
bl
i
nk
or
j
u
st
bl
i
n
k
w
h
e
n
a
chan
ge i
n
di
r
ect
i
on
of t
h
e l
o
o
k
i
s
ap
p
lied on
eyes.
c)
With ey
eba
lls
A cu
te ex
amp
l
e is th
e serv
an
t robo
t in
Ast
r
ob
oy
(20
09) wh
ich
h
a
s eyes with
eyeb
alls.
Pin
o
c
ch
io
i
n
Pin
o
c
ch
io30
00
(20
04) also
h
a
s eyeb
alls. It is i
m
p
o
r
tan
t
to
note thes
e kind of
balls are
u
s
ed
in
a no
t real
istic
look that is
similar to th
e
robot'
s caricatured
faces.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
Maki
n
g
H
u
m
a
noi
d R
o
bot
s
M
o
re Acce
pt
a
b
l
e
Base
d
o
n
t
h
e
St
u
d
y
of
R
o
b
o
t
C
har
act
e
rs i
n
…
(
F
at
eme
h
M
a
l
eki
)
67
Fi
gu
re 7:
Ki
sm
et
R
o
b
o
t
(
sour
ce:
h
ttp
://en.wikip
e
d
i
a.org
/
wi
ki/Kismet
(
r
ob
ot
)
)
No eye
s
AUT
O a
cha
r
a
c
ter in
WA
LL-E
(2
008
)
wh
ich
is in
sp
ired
by HAL i
n
2
001
:
A Space Odyssey
(1
968)
has j
u
st
a cent
r
al
red l
i
ght
.
A
dest
ruct
or r
o
b
o
t
s
i
n
Megami
n
d
(20
10)
and
9
(2009) also
have a cent
r
al circle
that attracts attention. In
I
r
on G
i
a
n
t
(
199
5)
w
h
en
th
e
r
obo
t tu
r
n
s
ou
t f
r
om a g
o
o
d
hu
man
lik
e ro
bo
t to j
u
st a
defe
nsi
v
e
r
o
bo
t
,
t
h
e
hea
d
i
s
h
i
dde
n a
n
d a
g
ai
n a
cent
r
al
ci
rc
l
e
i
s
t
h
e m
a
i
n
poi
nt
of
at
t
e
nt
i
o
n
.
T
h
e
hat
r
o
bot
i
n
Meet the
Robi
nso
n
s
(2007) a
l
so has
one LE
D sem
i
-eye. T
h
ese robots a
r
e
all conside
r
ed as
m
achines a
nd
ba
d
ch
ar
acter
s so
it seem
s th
at p
l
acin
g
a
sing
le lig
h
t
as th
e
r
obots eyes sho
u
l
d
b
e
av
o
i
d
e
d du
e to
sh
ar
ed
n
e
gativ
e
view of audience about it. In
Monsters, Inc
.
(2001), a chara
c
ter nam
e
d Mike
also has one eye but the e
y
e has
e
m
otions
shown by
eyelid
and eyebrow
and eyeball
re
sem
b
ling real
eye. In
Co
r
a
l
i
n
e
(
200
9)
, th
e O
t
her
M
o
t
h
er a
n
d Ot
her Fat
h
er
has
but
t
o
n ey
es i
n
no
rm
al
si
ze he
ad but the em
otions are
shown by eyebrows
a
nd
ot
he
r faci
al
e
x
pressi
o
n
s.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
56
IJR
A
V
o
l
.
4,
No
. 1,
M
a
rc
h 20
1
5
:
6
3
– 72
68
Fi
gu
re 8:
Aut
o
(
WALL.E, 2008
)
Fi
g
u
re
9:
ha
t
(
Meet the
Robins
ons ,2007
)
Fig
u
r
e
10
: ro
bo
t (9
, 200
9)
Fig
u
re
11
: bu
tto
n Eye m
o
th
er
v
s
real m
o
th
er
( Co
ra
li
n
e
,
200
9
)
2.
1.
2
MO
UT
H
Li
ps has i
m
por
t
a
nt
rol
e
i
n
m
a
ki
n
g
char
act
er bel
i
e
vabl
e
.
So
m
e
t
i
m
e
s we even l
o
o
k
di
rect
l
y
on t
h
e spea
k
e
r’s
l
i
p
s. A
ppl
y
i
n
g
l
i
p
sy
nc i
s
very
im
port
a
nt
. I
n
cases w
h
ere
t
h
e
m
echani
cal
speed o
f
m
out
h has l
i
m
i
t
at
i
ons
di
spl
a
y
b
o
a
r
ds
or e
v
e
n
c
o
l
o
r
e
d di
s
p
l
a
y
b
o
ar
ds ca
n be
use
d
t
o
sh
o
w
t
h
e l
i
ps f
o
rm
. For t
h
e seco
nd
st
ep t
h
e t
r
y
coul
d
be
on
t
h
e w
hol
e
b
ody
m
ovem
e
nt
si
nce i
n
f
act
l
i
p
s
y
nc i
n
n
o
t
j
u
st
ab
out
l
i
p
s
m
ovem
e
nt
s on
v
o
i
ce but
th
e who
l
e body in
clu
d
i
n
g
f
a
ce and
h
a
nd
s.
Mo
u
t
h
are im
p
o
rtan
t in
co
mmu
n
i
cating
ch
ildren with
aut
i
s
m
t
oo,
a
s
Di
rk
Neum
ann [
6
]
,
et
.
al
say
:
People with autism
are impaired
i
n
their social behavior,
includ
ing their eye cont
act with others
,
but
t
h
e p
r
oces
ses t
hat
u
nde
rl
i
e
t
h
i
s
i
m
pai
r
m
ent
re
mai
n
el
usi
ve. We co
mbi
n
ed
hi
g
h
-r
esol
ut
i
o
n ey
e
t
r
acki
n
g
w
i
t
h
com
p
ut
at
i
o
nal
mo
del
i
n
g i
n
a
gro
u
p
of
10
hi
gh
-f
u
n
ct
i
o
ni
n
g
i
ndi
vi
d
ual
s w
i
t
h
a
u
t
i
s
m t
o
ad
dress t
h
i
s
i
ssue. T
h
e
gr
ou
p
f
i
x
at
ed t
h
e l
o
c
a
t
i
on
of
t
h
e
m
out
h i
n
f
a
ci
al
expressi
ons
m
o
re t
h
a
n
di
d
matc
hed c
o
ntrols, even w
h
e
n
the mout
h was not s
how
n, e
ven in faces t
h
at were inverted and most
not
i
cea
bl
y at
l
a
t
e
nci
e
s of
2
0
0
–
4
0
0
ms.
C
o
mp
ari
s
ons
w
i
t
h
a c
o
mp
ut
at
i
o
nal
m
o
d
e
l
of
v
i
sual
s
a
l
i
e
ncy
arg
u
e t
hat
t
h
e
ab
n
o
r
m
al
bi
a
s
f
o
r f
i
x
at
i
n
g
t
h
e m
o
ut
h i
n
aut
i
s
m i
s
n
o
t
dri
ven
by
a
n
exag
g
er
at
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
Maki
n
g
H
u
m
a
noi
d R
o
bot
s
M
o
re Acce
pt
a
b
l
e
Base
d
o
n
t
h
e
St
u
d
y
of
R
o
b
o
t
C
har
act
e
rs i
n
…
(
F
at
eme
h
M
a
l
eki
)
69
sen
s
itivity to
th
e bo
ttom-up
sa
lien
cy o
f
t
h
e
fea
t
u
r
es,
bu
t ra
th
er
b
y
a
n
abn
o
r
ma
l top
-
d
o
wn
stra
teg
y
fo
r a
llo
ca
ting
visu
a
l
a
tten
tion
.
(
Di
rk
N
e
u
m
an
n,
et
.
al
,
20
0
6
)
The lips
of e
x
traterrest
rial
characters i
n
Jimmy Neutron:
B
o
y Geni
us
(
200
1)
an
d also the tw
o ro
bo
t
s
who arrest Jim
Hawkins in
Tr
eas
u
re planet
(
2
0
0
2
)
,
ha
ve di
spl
a
y
boa
rd as
t
h
ei
r m
out
h, b
u
t
si
nce t
h
ey
are n
o
t
d
e
sign
ed
to
b
e
g
ood
ch
ar
acters
th
e D
i
sp
lay bo
ard
ju
st
sh
ow
so
und
w
a
ves.
Figure
12: spa
ce creatures
(
Ji
m
m
y
Neu
t
ro
n ,2
001
)
Fi
gure
13: r
o
bots
(
Treas
u
re pl
ane
t
,
2
0
0
2
)
Som
e
ro
bot
s m
a
y
have
a si
m
p
l
e
m
echani
cal
separat
e
ja
w as
i
n
Ast
r
ob
oy
(2
00
9
)
.
2
.
3
BODY
LA
NGUA
GE
AN
D ROBOT'S EX
PR
ESSION
we conside
r
e
d
facial part and
faci
al
exp
r
essi
on i
n
t
h
e p
r
evi
ous se
ct
i
o
n
,
an
ot
he
r im
port
a
n
t
t
h
i
ng t
h
at
can
d
e
f
i
n
e
so
meo
n
e
's ch
ar
acter
istics is bod
y
lan
g
u
a
g
e
, t
h
ey
w
a
y on
e acts an
d use
h
e
ad
, leg
s
, h
a
nd
s
f
o
r
do
ing
a w
o
r
k
or
s
h
o
w
i
n
g em
ot
i
ons
.
2.
3.
1 DE
SIG
N
So
m
e
ro
bo
ts i
n
an
im
atio
n
s
su
ch
as
Ro
bo
ts
(
200
5)
,
Meet the
Robins
ons
(
200
7)
,
C
a
stle in
th
e
S
k
y
(
198
6)
o
r
Om
ni
dr
oi
d
r
o
bot
i
n
Th
e in
cred
ib
le
(2
00
4
)
ha
ve arm
s
, l
e
gs and nec
k
s m
o
re l
i
k
e r
u
b
b
e
r
ho
se
ani
m
at
i
on wi
t
h
sim
p
l
e
fl
owi
n
g cu
rves a
nd
w
i
t
hout
art
i
c
ul
at
i
ons
, b
u
t
i
t
m
a
y
seem
hard t
o
be im
pl
em
ented t
h
at
n
eeds to con
t
rol
m
a
n
y
sm
a
ll
m
o
to
rs’ ro
tation
.
In
R
o
bot
s
(2005) the s
p
ri
ng cha
r
acter
n
ear gat
e
ha
s no l
e
gs,
but
t
h
e exa
g
gerat
e
d sp
ri
n
g
l
i
k
e
m
ovem
e
nt
of hi
s b
ody
gi
ves
hi
m
a great
fun
n
y
ap
peal
i
n
g cha
r
act
eri
s
t
i
c
, t
h
i
s
m
odel
can be
use
d
w
h
ere t
h
e
m
a
ki
ng o
f
l
e
g
s
and h
u
m
a
nl
i
k
e wal
k
i
ng ca
n be p
o
st
p
o
n
e
d
or i
g
n
o
re
d b
u
t
al
so want
t
o
m
a
ke a robo
t
wi
t
h
characte
r
istics.
In
Me
gamind
(2
010
)
an
d
Jimmy Neutron: Boy Ge
nius
(
2
0
0
1
)
co
nse
que
nt
l
y
a fi
sh wi
t
h
a ro
bot
b
o
d
y
and s
o
m
e
extraterrestrial c
h
aracters ex
i
s
t
s
t
h
at
are r
o
bot
s
m
i
xed
o
f
a l
i
f
e
re
al
bei
n
gs t
h
at
h
a
ve
ro
b
o
t
i
c
b
o
d
y
.
No
t all th
e ti
me th
e b
o
d
y
p
a
rts sh
ou
ld
b
e
integ
r
ated
as Eva in
WALL-E
(2
008
),
ro
bo
t in
I
r
on
G
i
an
t
(1
995
),
Jimmy
’
s
d
o
g
i
n
Jimmy Neut
ron: B
o
y Ge
ni
us
(
2
00
1)
, an
d
a ro
bot
t
h
at
c
a
n h
o
l
d
hi
s he
ad i
n
han
d
i
n
Ro
bot
s
(2
0
0
5
)
can
pr
o
pos
e t
h
e i
d
ea
of
unc
o
nne
ct
ed b
o
d
y
part
s
.
Un
us
ual
b
ody
pr
o
p
o
r
t
i
on ca
n
al
so m
a
ke weak a
n
d
unus
ual actions be
m
o
re easily accepted by visitors
and
also giving charact
eristics to the robot.
Or
rin
in
Ast
r
o
boy
(2
009
)
h
a
s no
legs and
h
a
s a li
ttle h
u
m
p
wh
i
c
h
m
a
tch
e
s h
i
s ch
aracter and
also m
a
k
e
it cu
te
pr
o
posi
n
g
di
ffe
rent
t
y
pes
o
f
b
ody
desi
gn
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
56
IJR
A
V
o
l
.
4,
No
. 1,
M
a
rc
h 20
1
5
:
6
3
– 72
70
Fi
gu
re 1
4
:
m
i
n
i
on (
Meg
a
m
i
nd ,201
0
)
Figure
15:
or
rin
(
Astrobo
y, 20
09
)
2.
3.
2 ACT
I
O
N
Ove
r
l
a
y
i
ng
of
act
i
ons i
s
an i
m
port
a
nt
t
h
i
n
g
i
n
hum
an bei
ngs l
i
f
e
,
we cl
ose t
h
e d
r
esse
r
’
s d
o
o
r
b
u
t
b
e
fo
re fi
n
i
sh
ing
it turn ou
r h
e
ad
b
ack read
y t
o
walk
away
fro
m
it.
Peo
p
l
e
som
e
t
i
m
e
s do som
e
act
i
ons w
h
i
l
e
doi
n
g
an
ot
he
r act
i
on t
h
at
m
a
y
not
be n
ecessa
ry
for a r
o
b
o
t
to
do
all action
s
t
o
g
e
t
h
er, for ex
am
p
l
e we
may frown while liftin
g
a
h
e
av
y th
ing
or so
m
e
m
a
y tak
e
th
eir
tongue
tip out while
c
once
n
trating on
doing som
e
precise work. Defi
ning
so
m
e
unneces
sary set of acti
ons
for
doi
ng
s
o
m
e
wor
k
s ca
n
al
so
h
e
l
p
us
gi
ve
r
o
b
o
t
s
s
p
eci
al
cha
r
act
eri
s
t
i
c
s,
di
f
f
ere
n
t
set
s
f
o
r
di
ffe
re
nt
r
o
bot
s. It
i
s
al
so rel
a
t
e
d t
o
B
ody
La
ng
ua
ge st
u
d
i
e
s, cl
o
s
i
ng ey
es w
h
i
l
e sl
ow t
a
l
k
i
n
g
can sh
o
w
pl
e
a
sure
. I
n
Me
gami
nd
(201
0) th
e robo
t bo
ws
n
ear t
h
e sittin
g
m
a
n
wh
ile talk
ing
to
h
i
m
,
th
is
m
a
y ap
p
ear
un
n
e
cessary fo
r a rob
o
t
th
at
can i
n
c
r
eases
hi
s
vol
um
e, but
t
h
i
s
b
ody
l
a
ng
ua
ge a
n
d
se
t
of
act
i
o
n
s
ca
n
have
p
s
y
c
h
o
l
ogi
cal
ef
fect
on
t
h
e
vi
si
t
o
r.
As
an
o
t
her e
x
am
pl
e o
f
set
of act
i
ons
, i
n
R
o
bot
s
(2
00
5)
two
ro
bo
ts wh
isp
e
r
,
ho
ld
i
n
g h
a
nd
in fr
on
t of
m
outh and look
forwa
r
d inste
a
d
of lo
oki
ng a
t
each
othe
r, m
eant to
show
the conve
rsation
is done
hi
dde
n.
In
9
(2009), one character say
s
, “fo
llow m
e
”
and accom
p
any it by his ha
nd m
ove
m
e
nt. Deaf
-comm
unity sign
l
a
ng
uage al
s
o
can be st
udi
es
and
be a g
r
eat
sou
r
ce t
o
be
use
d
. A
ro
b
o
t
t
h
at
t
a
l
k
s and
al
so m
oves i
t
s
han
d
s
according t
o
the speec
h ca
n
have
better e
ffe
ct.
In
I
r
on
G
i
an
t
(1
9
9
5
)
, t
h
e
ro
bot
put
hi
s ha
nd
u
nde
r t
h
e c
h
i
n
.
Set
t
i
ng a
ro
b
o
t
t
o
d
o
t
h
i
s
or
n
o
d
d
i
n
g
wh
ile
wh
at t
h
e
sp
eak
e
r
says tak
e
s t
o
o lon
g
can
h
a
v
e
po
sitiv
e effect
on
the sp
eak
er.
2
.
3
.
2
.
1
IMPORTANCE OF BETWEEN
As l
i
k
e t
h
e s
p
e
e
d
of
ut
t
e
ri
n
g
a sent
ence
can
ha
ve di
ffe
rent
m
eani
ngs, t
h
e
spee
d a
nd al
s
o
c
h
an
ge i
n
spee
d o
f
d
o
i
n
g an act
i
o
n ca
n al
so m
a
ke i
t
m
o
re nat
u
ral
.
An e
x
am
pl
e of i
m
port
a
nce
of c
h
an
ge
of
spee
d
in
stead
of action
s
with
regu
lar sp
eed
is in
Ji
mmy N
e
ut
ro
n:
Boy Ge
ni
us
(
2
0
01)
wh
en
th
e
r
obo
t d
o
g
conver
t
s to
just a loud s
p
eaker
phone,
his hea
d
start
to
ro
tate steadily clo
c
k
w
ise
an
d
cou
n
t
er-cl
o
ckwise lik
e a rad
a
r
antenna.
In
WALL-E
(20
08), in
a sp
ecial sh
o
t
th
at
Eva
is still a robot with
no fe
elings,
Ev
a
starts lau
g
h
i
ng
,
alth
o
ugh
h
e
r lau
gh’s so
und
,
bo
d
y
m
o
v
e
m
e
n
t
and
eyes sh
ape are all so n
a
t
u
ral
b
u
t
we still feel h
e
r as a
ro
bo
t.
Th
e reason
o
f
th
is m
a
y b
e
d
u
e
t
o
th
at th
e laug
h
fo
llows ano
t
h
e
r actio
n
su
dd
en
ly with
ou
t an
y
actio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
Maki
n
g
H
u
m
a
noi
d R
o
bot
s
M
o
re Acce
pt
a
b
l
e
Base
d
o
n
t
h
e
St
u
d
y
of
R
o
b
o
t
C
har
act
e
rs i
n
…
(
F
at
eme
h
M
a
l
eki
)
71
con
n
ect
i
n
g t
h
e
m
. Try
i
ng t
o
sho
w
a r
o
bot
m
o
re bel
i
e
vab
l
e defi
ni
ng s
o
m
e
act
i
ons be
t
w
een t
w
o
op
posi
t
e
em
ot
i
onal
act
i
ons
ca
n
hel
p
t
o
dec
r
ease t
h
i
s
f
eel
i
ng.
Som
e
t
i
m
e
s t
h
e ro
b
o
t
m
a
y
do not
hi
n
g
, i
n
I
r
on Gi
a
n
t
(
1995
), wh
en
th
e
ro
bo
t is fr
ee and
bor
ed h
e
starts to open
and cl
ose a car’s door slowly and
repeated
l
y
. Defi
ni
n
g
s
o
m
e
act
i
ons t
o
be
do
ne
whi
l
e
f
r
e
e
an
d
id
le can
m
a
k
e
t
h
e
robo
ts app
e
ar m
o
re th
an
just robo
ts.
Usi
n
g a
n
i
m
ati
on t
w
el
eve
p
r
i
n
ci
pal
s
i
s
a
not
her
point
as Breem
an,”We
propose
d
to a
pply
pri
n
ci
pl
es o
f
t
r
adi
t
i
onal
a
n
i
m
at
i
on t
o
m
a
ke t
h
e r
o
b
o
t
’
s
beha
vi
o
r
bet
t
e
r u
nde
rst
a
n
d
a
b
l
e
. Exam
pl
es fro
m
our
use
r-i
nterface robot iCat
were
gi
ven to i
llustrate th
is idea.” (va
n
Bree
man, 2004)
2.
3.
2.
2 ANI
M
A
T
I
O
N
P
R
I
N
CIPL
E
S
OF ACT
I
O
N
Utilizing of a
n
im
a
tion princ
i
ples can also
help t
h
e
robot to
have
a m
o
re acce
ptable
m
ove
m
e
nts,
bot
h co
nsi
d
eri
ng t
h
e p
h
y
s
i
c
s
and e
x
a
gge
rat
i
ons i
n
i
t
and
al
so co
nsi
d
e
r
i
n
g t
h
e
psy
c
h
o
l
o
gy
o
f
b
o
d
y
l
a
n
gua
ge
th
at is th
e
p
e
o
p
le are fam
iliar with
tho
s
e ex
ag
g
e
rated m
o
v
e
men
t
s in
b
o
d
y
b
y
watch
i
ng
man
y
an
im
atio
n
s
.
B
r
eem
an st
udi
es appl
y
i
ng
of
12 ani
m
at
i
on pri
n
ci
pl
es s
u
ch as
S
q
uas
h
an
d st
ret
c
h
,
An
ticip
a
tion
,
Stra
igh
t
Ahe
ad Act
i
o
n
an
d P
o
se
-t
o-
P
o
se , F
o
l
l
o
w
Thr
o
u
g
h
a
n
d
Overl
a
p
p
i
n
g A
c
t
i
on,
Sl
ow
I
n
an
d
Sl
ow
O
u
t
,
Arcs,
Seco
n
d
a
r
y Act
i
on
,
Ti
mi
n
g
,
Ex
ag
ger
a
t
i
o
n,
S
o
l
i
d
Dr
aw
i
n
g
an
d
Ap
pe
al
o
n
ro
bo
ts. (
B
r
eem
an
,
20
04)
The accepta
nc
e of use
r-inte
r
face robots as “social
friend” depe
nds am
ong othe
rs on the
ability of the
user
t
o
un
de
rst
a
nd
t
h
e
ro
b
o
t
’
s be
havi
or
−
t
o
un
der
s
t
a
n
d
what
i
t
i
s
d
o
i
n
g a
nd t
h
i
n
ki
n
g
.
B
o
dy
gest
ure
s
are
a
n
a
tural ch
ann
e
l to
co
mm
u
n
i
cate th
is. Trad
itio
n
a
lly, th
e con
t
ro
l of
rob
o
tic
bo
d
y
p
a
rts is carried
o
u
t
b
y
feedb
a
ck
con
t
ro
l lo
op
s. Th
is resu
lts, howev
er, in
rath
e
r
machine-like behavi
or
th
at
does not re
veal
m
u
ch
ab
ou
t
w
h
at t
h
e
r
obo
t is do
ing
o
r
th
ink
i
ng
. (
B
r
eem
an
, 20
04
)
2.
4
ROBOT
E
X
PRES
SIO
N
S B
Y
VOI
C
E AN
D
SO
UN
D
A rob
o
tic so
un
d
clich
é
m
a
y
b
e
so
fam
iliar
in
ou
r m
i
n
d
s
, wh
at m
a
k
e
s a robo
tic sou
nd so
robo
t
i
c
?
R
e
gul
ar
pi
t
c
h
and
unc
ha
ngi
n
g
spee
d o
f
t
a
l
k
i
n
g can be t
w
o i
m
port
a
nt
causes t
h
at
ref
l
ect
no exci
t
e
m
e
nt
or
feelin
g in
vo
ice.
Speec
h Sy
nt
he
si
s fi
el
d can
b
e
use
d
t
o
c
o
nvert text to s
p
ee
ch, as i
n
WALL-E
(
200
8)
AU
TO
’s voice
was produced
by a text-to-s
p
eech program
called
MacInTalk
(IM
DB) [9]. Th
e o
t
h
e
r step
wo
u
l
d
b
e
u
tilizin
g
Nat
u
ral
Lan
g
u
a
ge Pr
ocessi
ng
fi
el
d’s achi
e
v
e
m
e
nt
s t
o
gi
ve
di
ffe
rent
pi
t
c
h an
d spee
d t
o
sam
e
sent
ences i
n
di
ffe
re
nt
si
t
u
at
i
ons
. B
e
si
des sci
e
nt
i
f
i
c
st
udi
es and ef
fo
rt
s i
n
pr
od
uci
n
g v
o
i
ces fo
r ro
b
o
t
s
t
h
at
can sho
w
t
h
e
e
m
otions, a
d
ding s
o
m
e
features to a special
robot, suc
h
as
pronouncing a special ex
press
i
on m
o
re fr
eq
u
e
nt
o
r
with
a
un
iqu
e
attractin
g
p
itch
can
m
a
k
e
it cu
t
e
and
m
o
re
b
e
liev
a
b
l
e.
In
WALL-E
(20
08)
, t
h
e co
ckr
o
ach
h
a
s a sou
n
d
h
e
ar
d wh
en
m
o
v
i
ng
, altho
ugh
in r
eal life th
at so
und
m
a
y
not
be heard
,
t
h
i
s
can gi
ve t
h
e i
d
ea of
addi
ng s
o
m
e
u
nnece
ssary
so
u
nd t
o
s
o
m
e
robot
’s act
i
ons t
o
fo
rm
so
rt
o
f
ch
aracteristics to
th
em
, an
d
th
is also
can
h
e
l
p
th
e
v
i
sito
rs t
o
b
eco
m
e
fa
m
i
liar with
th
at sou
n
d
,
let th
em
g
u
e
ss in later times wh
at t
h
e ro
bo
t is
do
ing
or
g
o
i
n
g
to
do
, l
e
ttin
g
th
em
feel th
at th
ey
k
now th
e rob
o
t
.
3.
CHARACTERISTICS
C
a
n a r
o
bot
ha
ve a
ph
ot
o i
n
a
p
o
se t
h
at
s
h
o
w
s t
h
e
cha
r
act
eri
s
t
i
c
s of
i
t
t
h
e best
?
T
h
i
s
m
a
y
be d
o
n
e
by
set o
f
actio
n
s
so
lu
tion
that we
p
r
o
p
o
s
ed
earlier.
In
Robots
(2005), t
h
ere is a robot that does
m
a
ny actions
wh
ile g
e
tting
an
gry or wh
en cryin
g
h
e
cry
in
an
ex
agg
e
rated
way op
enin
g
m
o
u
t
h
and sh
ak
i
n
g
bo
d
y
, th
ese
act
i
ons a
r
e
not
necessa
ry
t
o
c
r
y
or
get
a
n
gry
but
de
fi
nes t
h
a
t
ro
b
o
t
’
s s
p
eci
a
l
charact
e
r
.
B.E.N.
a r
o
bot
i
n
Tre
a
s
u
re Pl
anet
(2002), that has l
o
st m
o
st of
his
me
mo
r
y
i
n
t
h
e
ma
i
n
p
a
r
t
o
f
s
t
o
r
y,
has a special c
h
aracter t
h
at talks t
oo m
u
ch. This can lead to the idea
o
f
a
m
a
ki
ng a r
o
b
o
t
say
i
ng s
o
m
e
of
l
ogi
cal
i
n
fe
ren
ces do
ne i
n
i
t
s
pr
ocess
o
r l
o
u
d
l
y
, be
gi
n
n
i
n
g
with
exp
r
ession
s lik
e, “Well, I th
ink
”
or “It
see
m
s
that...”
Say
i
ng
som
e
rand
om
qu
ot
at
i
ons
t
h
at
m
a
y
even
d
o
n
o
t
m
a
tch t
h
e
si
t
u
at
i
o
n
al
so i
s
a
n
ot
he
r
su
gg
est
i
o
n
.
As we m
e
nt
i
oned bef
o
re, N
o
t
bei
ng
per
f
ect
m
a
kes
i
t
m
o
re
pos
si
bl
e t
o
be
di
ffe
re
nt
am
on
g ot
he
rs an
d
th
at is wh
at ex
ists b
e
t
w
een
h
u
m
an
being
s
an
d fo
rm
s th
e d
i
fferen
ce, character
istics and
id
en
tity. Alt
h
oug
h
ro
b
o
t
s
use s
o
c
i
al
l
earni
ng a
n
d b
u
t
t
o
m
a
ke t
h
em
appear
di
ffe
re
nt
som
e
feat
ures ca
n
be de
fi
ne
d an
d t
h
e
n
d
ecreasi
n
g and in
creasi
n
g
some featu
r
es i
n
d
i
fferen
t ro
bots can
g
i
v
e
the
m
id
en
tity an
d
m
a
k
e
th
em
m
o
re
accepted by
pe
ople. Although their
kn
owledge a
r
e at the
sa
me level.
3.
1
A
G
E
Age a
nd se
x c
a
n be de
fi
ne
d
t
oo.
Ev
a
in
W
A
LL-E
(
200
8)
is f
e
m
a
le, so
me sh
ow
n
b
y
the sto
r
y an
d
som
e
by
voi
ce. B
e
si
des t
o
v
o
i
ce, col
o
r a
n
d t
e
xt
u
r
e al
so
can hel
p
by
d
e
si
gni
ng
fem
a
le ro
bot
s l
i
g
ht
e
r
an
d
sm
o
o
t
h
e
r th
an
male ro
bo
ts.
Th
e
fem
a
le ro
bots in
9
(
2
00
9
)
h
a
ve l
i
g
ht
er c
o
l
o
r
wi
t
h
sm
oot
h
e
r t
e
xt
ure.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
56
IJR
A
V
o
l
.
4,
No
. 1,
M
a
rc
h 20
1
5
:
6
3
– 72
72
Im
pl
em
ent
i
ng di
ffe
re
nt
ki
n
d
of wal
k
i
n
g i
s
har
d
si
nce i
t
i
s
st
i
l
l
a chal
l
e
n
g
e t
o
m
a
ke a rob
o
t
wal
k
, but
addi
n
g
som
e
visual fe
atures
or s
p
ecial voice
can be
use
d
t
o
s
h
ow
age in robots.
3
.
2
ACCESSORIE
S, PET
S
, INTEREST
In
WALL-E
(
2
0
08)
, wh
en
W
A
LL-E,
t
h
e r
o
bot
, f
o
rget
s ev
ery
t
hi
n
g
an
d l
o
ses hi
s cha
r
a
c
t
e
r he sh
ow
s
not
i
n
t
e
rest
t
o
what
he
was
i
n
t
e
rest
ed i
n
bef
o
re
.
Defi
ni
ng
s
o
m
e
i
n
t
e
rest
s f
o
r
a r
o
bot
by
e
x
p
r
essi
ng
a se
nt
ence
or exclam
ation sound or
ha
ving it all the ti
me can
be
a
fe
at
ure t
o
be a
d
d
e
d t
o
a ro
bo
t. Th
e ro
bo
t
in
C
a
stle in
the Sky
(1
9
8
6
)
wh
o
has
pl
ant
s
on
hi
s s
h
o
u
l
d
e
r
i
s
di
f
f
ere
n
t
a
nd
d
o
a
di
ffe
re
nt
j
o
b
,
al
t
h
ou
g
h
t
h
e
bo
dy
s
h
a
p
es are
all th
e sam
e
.
Nu
mb
er
On
e
, a ro
bo
t in
9
(2009) always
ha
ve
a cane
with
hi
m
s
e
l
f com
p
leting his
cha
r
acte
r
.
Besid
e
s actio
ns an
d
robo
t bod
y d
e
sign
, accesso
ries
o
r
a
pet can
h
e
lp
a l
o
t in
in
tro
d
u
c
i
n
g
it. In
Ro
bo
ts
(
200
5)
,
robots have ac
cessories suc
h
as
m
u
stache or
earrings. T
h
e cockroach
th
at
always fo
llo
ws
WALL-E
r
obo
t
i
n
WALL-E
(20
0
8
)
h
a
s a ro
le in
th
e
ro
bo
t’s id
en
tity to
o.
O
m
ni
droi
d
robo
t
in
The Incre
d
ibles
(
2
0
0
4
) is
m
o
re a
mach
in
e th
an
a robo
t bu
t hav
e
a
n
cestors t
h
at can
propos
e
the idea
of
fa
m
i
l
y
o
f
robo
ts with
d
i
fferences in
sizes or clot
hs
and access
o
rie
s
.
4.
CO
NCL
USI
O
NS A
N
D
FUT
URE WO
RK
B
a
sed
on
t
h
e
s
t
udy
of
r
o
bot
charact
e
r
s i
n
a
n
i
m
at
i
on
we e
x
t
r
act
ed
feat
ur
es t
o
t
o
be i
m
pl
em
ent
e
d i
n
robots m
a
ke them
are
m
o
re acceptable. Feature
s
in
appea
r
a
n
ce, a
c
tions, a
n
d a
ccessories can gi
ve
ch
aracteristics an
d
id
en
tity to
robo
ts b
u
t
with less effort
to
resem
b
lin
g
p
r
ecisely to
h
u
m
an
b
e
in
gs. An
im
a
tio
n
s
ch
osen in
t
h
is stud
y were al
so
m
a
d
e
fo
r ad
u
lts. Fu
tu
re s
t
udies
with c
o
ncent
r
a
tio
n on th
e
robo
ts that are
desi
g
n
e
d
t
o
i
n
t
e
ract
wi
t
h
chi
l
dre
n
ca
n
be
su
gge
st
ed,
t
h
is
needs a
sepa
rate
study since
children conce
p
tions
are
di
ffe
re
nt
an
d t
h
ey
di
a
g
n
o
se
a
m
ovi
ng
o
b
je
ct
as r
o
bot
,
ani
m
al
or
h
u
m
a
n i
n
a di
f
f
ere
n
t
way
.
ACKNOWLE
DGE
M
ENTS
We woul
d like
to thank Dr.
Mohamm
ad Reza Hos
n
aee for
his enc
o
ura
g
em
ent, Farrokh
Yekda
n
e
h
who
s
e in
terest
in
co
m
b
in
in
g
ro
bo
tics and
an
imatio
n
sub
j
ect
s en
courag
ed
us an
d
Dr. Fatemeh
Ho
ssein
i
Sh
ak
ib
fo
r he
r si
ncere
dev
o
t
e
t
o
p
r
om
ot
e ani
m
ati
on st
udi
es i
n
A
r
t
Uni
v
ersi
t
y
of
Tehra
n
an
d f
o
r
her hel
p
o
n
U
n
can
ny
Valley subject.
W
ith
special t
h
anks
to
D
i
s
n
ey r
e
s
e
a
r
ch
te
am w
h
o
w
o
r
k
e
d
on
the
robot a
b
le to
play cat
ch a
nd
j
ugg
lin
g.
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NC
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[1]
Kobe
r,
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ns; Glisson,
Ma
tthe
w
; Mistry
,
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he
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